UT-HCRL/LEGATO
Official codebase for LEGATO (Learning with a Handheld Grasping Tool)
LEGATO helps robotics researchers teach new manipulation skills to different robots more efficiently. You provide task demonstrations using a specialized handheld gripper, and the system translates these actions into control commands for various robot arms, even if they have different designs. This is for robotics researchers and engineers who work with robot learning and skill transfer.
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Use this if you need to rapidly train and deploy visuomotor skills across a fleet of robots with diverse kinematic structures using a unified demonstration approach.
Not ideal if you are looking for a pre-trained solution for a specific industrial application or do not work with robot learning frameworks.
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Language
Python
License
MIT
Category
Last pushed
Aug 19, 2025
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